CN104281115B - Induced bird-repellent robots network control system and method - Google Patents
Induced bird-repellent robots network control system and method Download PDFInfo
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- CN104281115B CN104281115B CN201310495961.XA CN201310495961A CN104281115B CN 104281115 B CN104281115 B CN 104281115B CN 201310495961 A CN201310495961 A CN 201310495961A CN 104281115 B CN104281115 B CN 104281115B
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- G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
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Abstract
The invention discloses a kind of induced bird-repellent robots network control system and method, including several Intelligent bird expelling robot equipment being embedded in airfield runway clear width setpoint distance, described bird-repellent robots equipment receives the information of airport main website by airport base station, airport main website receives the information of airport server, thus realizes the transmitting of the Bird scaring gun song of server manipulation bird-repellent robots；Described Intelligent bird expelling robot equipment includes emulated robot model, model base and control equipment, described emulated robot model is arranged in model base, described model base can drive emulated robot model rotation, described control equipment to be arranged on inside model base.Beneficial effects of the present invention: it has and automatically rotates for various bird feelings on airport, the big gun that can ring, can gather bird feelings, remote controlled advantage.
Description
Technical field
The present invention relates to a kind of induced bird-repellent robots network control system and method.
Background technology
Bird is hit and refers to that bird and aircraft aloft bump against the aviation accident caused, and has multiple and sudden, and once generation can make to fly
Machine is impaired, and severe one can make electromotor run out of steam, and even air crash causes great casualties.Take off and landed
Journey is the stage being easiest to occur bird to hit, and the bird percussion more than 90% is raw in airport and near airports spatial domain, and 50% occurs be less than
The spatial domain of 30 meters occurs, and only 1% occurs in the high-altitude more than 760 meters.Airport and near airports spatial domain are the emphasis of bird dispelling.
At present airport takes various bird dispelling measure, such as: bird dispelling scarecrow, human simulation, automatic laser bird-scaring unit, firecracker bullet,
Sonic boom bird dispelling, coal gas big gun, bird repellent, bird dispelling rifle, bird dispelling falcon, bird-dispersing car means are used for airport bird scaring.
At present in terms of airport bird scaring, the various scarecrow devices of application have spilt many weak points during bird dispelling cruelly:
Existing equipment is independent operating mostly, is difficult to carry out coordinated operation between multiple scarecrow devices, lacks and drives with other
The interconnection of bird equipment, it is impossible to the existing system of Appropriate application airport bird scaring.Thus cause realizing timely and effectively comprehensive many
The effect on driving birds covered.
Mostly existing scarecrow device is to utilize phantom, goes to wear the clothes scarecrow or the emulation of both sides by being distributed in airport
Anthropometric dummy produces visual threatening effect to birds and reaches effect on driving birds.The prolongation over time of fixing phantom, bird
The toleration time of class will shorten, it is impossible to reaches effect on driving birds.
Existing scarecrow device uses the sound of speech simulation birds natural enemy, and stimulation geneogenous to birds reaches the effect of bird dispelling,
The elongated birds of time can gradually produce habituation by posteriori adaptability to this sound.Effect on driving birds is more and more less.
Existing scarecrow device be single-point trigger-type i.e. somewhere, airport find the bird situation condition time, scarecrow device carries out bird dispelling for this point
Action, when finding bird feelings elsewhere, scarecrow device specifies position carrying out action, often because moving process moving to
In time loss problem and cause bird dispelling not reach real-time effect.More serious for bird feelings ratio, the when that there are bird feelings in multiple spot,
This single-point triggers equipment and just seems awkward.
Existing scarecrow device once breaks down, owing to not having self-inspection to test oneself and network communication function, and could when can only reuse
Note abnormalities, consequent hidden danger, the flight safety of aircraft in airport will be directly influenced.
Existing scarecrow device lacks bird feelings and gathers, it is impossible to the bird situation condition according to occurring before is analyzed, and judges the most in advance, then
Scarecrow device action bird dispelling can be driven automatically before taking off.
Existing scarecrow device is usually Non-follow control, and before taking off, general airfield runway both sides can carry out clearing out a gathering place of personnel,
But the at this time most important time of certain bird dispelling, at this moment the scarecrow device remotely controlled is waited and is just particularly important.Need not lean on
Nearly scarecrow device, can preferably save manpower by the way of remotely controlling to reach bird dispelling and can meet airport with maximized simultaneously
The requirement of bird dispelling.
Summary of the invention
The purpose of the present invention is contemplated to solve the problems referred to above, it is provided that a kind of induced bird-repellent robots network control system and method,
It has and can automatically rotate for various bird feelings on airport, the big gun that can ring, can gather bird feelings, remote controlled advantage.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of induced bird-repellent robots network control system, including being embedded in several of airfield runway clear width setpoint distance
Induced bird-repellent robots equipment, described induced bird-repellent robots equipment receives the information of airport main website, machine by airport base station
Field main website receives the information of airport server, thus server manipulation induced bird-repellent robots carries out the transmitting of bird dispelling sound, logical
The mode that the broadcasting of the sound crossing big gun ring, the rotation of induced bird-repellent robots equipment and natural enemy " informs danger " trains birds
Trained reflex, allows the flight rule on bird " understand, adapt to, grasp " airport, is familiar with aerodrome flight environment and the bird of flight rule
Class again receives " flight hazard " signal and will shift to an earlier date actively to withdraw airport or take to conceal motionless behavior and dodge aircraft, from
And avoid to try in any path one could without heeding which one chose and swarm into course line, increase the chance hit of bird；
Described induced bird-repellent robots equipment includes emulated robot model, model base and control equipment, described emulation machine
Human model is arranged in model base, and described model base can drive emulated robot model rotation, and described control equipment is installed
Inside model base；
Described emulated robot model includes that base plate fixed by model, and described model is fixed and is fixed with model driven rod on base plate, described
Being fixed with the trunk of robot on model driven rod, the buttocks of described robot trunk is provided with bird dispelling audio-frequence player device, described machine
The shoulder of device people's trunk is provided with infrared night vision camera, and the chest of described robot trunk is provided with communication device, described machine
People's trunk both sides are provided with robotically-driven arm, are provided with bird dispelling electronics big gun in described robotically-driven arm.
The surface of described model base is provided with rain cover, is provided with control equipment in described model base, and described control equipment includes electricity
Gas control control equipment and driving means；Described electrical control equipment include control device, environment monitoring device, voltage stabilizing conversion electric power,
Bird dispelling audio frequency playing controller,
Described control device respectively with environment monitoring device, communication device, infrared night vision camera, bird dispelling audio frequency playing controller,
Bird dispelling electronics big gun controller, scarer controller communicate, and described bird dispelling audio frequency playing controller controls bird dispelling audio-frequence player device,
Described bird dispelling electronics big gun controller controls bird dispelling electronics big gun, and described drive set controller controls driving means；
Described environment monitoring device is used for monitoring model base bottom height of water level, and height of water level is too high sends warning, it is to avoid model
The short-circuit conditions being continuing with causing in the case of base water inlet occurs.
Described communication device, for the transmitting-receiving of wireless signal, is used for receiving and sending order, controls platform with hand-held set and bird dispelling and enters
Row is linked up.
Described infrared night vision camera for bird feelings gather, including bird kind, quantity, position, time of occurrence information occur,
Prepare for later stage prediction bird dispelling.
Described bird dispelling audio player is used for controlling bird dispelling sound, regulates the natural enemy sound playing this kind of birds according to the kind of bird, can
The size of sound is controlled and the selection of bird dispelling sound.
Described bird dispelling electronics big gun controller is for the control of bird dispelling electronics big gun, to the discharge and recharge of bird dispelling electronics big gun and bird dispelling electronics big gun
Big gun ring carries out on-off control.
Described scarer controller is used for controlling whole Intelligent bird expelling robot, resolves action command, according to agreement solution
Each equipment of Intelligent bird expelling robot is controlled by the command context separated out.
Described bird dispelling audio-frequence player device, for the broadcasting of birds natural enemy audio-frequency information, carries out public address broadcasting to birds natural enemy sound.
Described bird dispelling electronics big gun, with sending the high-decibel big gun song with flash effect, disperses birds.
Described driving means is for driving 360 degree of all-direction rotations of phantom, according to the orientation angles in action command, band
Dynamic phantom turns to respective angles.
Described driving means includes bidirectional damper motor, and described bidirectional damper motor is connected with shaft by gear module, described
Shaft is fixed base plate by bearing adapter sleeve with the model of emulated robot and is connected, and described shaft stirs device and row by stroke
Journey driving lever connects, and described stroke driving lever is connected with travel switch.
Described control device includes core cpu control module, described core cpu control module respectively with data memory module,
Wireless communication module communicates with peripheral control module, described data memory module, wireless communication module and peripheral equipment control
Module communication all communicates with onboard protection module, and described onboard protection module is connected with power module, described power module and instruction
Module connects, and described core cpu control module also communicates with onboard protection module；
Described core cpu control module is for carrying out data analysis to the wireless communication information received, according to the most predefined
The data received are carried out agreement decomposition by communication protocol, according to protocol requirement make control instruction to peripheral hardware control module, deposit
Storage module and indicating module carry out effective Read-write Catrol, reach the execution requirement of order.Simultaneously can also be to wireless communication module
It is controlled, reaches to control the effect that data message sends.
Described data memory module is for counting the work times of bird-repellent robots action；By recording the work of bird-repellent robots action
The frequency of bird-repellent robots action is supervised as number of times；The temporary command information received, selects the form of storage to keep in action life
Order；
Described wireless communication module is for receiving hand-held set sends and the action command of host computer bird feelings control platform transmission, simultaneously
When opening robot motion circulation pattern, wireless communication module should be as signal receiving end again as next robot
Signal sending end plays multiple action.
Described peripheral control module for external equipment is controlled, such as to tumbler, electromagnetism high-decibel bird big gun,
High power power amplifier and the control of rotary spacing equipment.
Described onboard protection module is for protecting module mainly to play the effect of protection robot panel, and protection module is divided into two
Part, power protection and signal filtering protection, be respectively used to power supply stability protection and the guarantee of signal error rate.
Audio memory that described bird dispelling audio frequency playing controller includes communicating successively, audio frequency read module, audio decoder module and
Audio frequency plays control module, and described audio frequency is play control module and communicated with bird dispelling audio-frequence player device；
Described audio memory is for storing the audio sound of birds natural enemy.
Described audio frequency read module extracts for the audio frequency thinking highly of audio storage, is scanned audio file.
Described audio decoder module for carrying out the decoding of corresponding form to audio file, it is ensured that the audio file of different-format can
Enough broadcastings.
Described audio frequency plays control module for controlling the broadcasting of audio file, as suspended, playing, a upper head, next.
The size of audio sound, for audio frequency is carried out public address, is adjusted by described bird dispelling audio-frequence player device.
Described environment monitoring device is hydrops detector, and it is arranged on and blocks water under dividing plate, monitors height of water level.
The control method of a kind of induced bird-repellent robots network control system, is broadly divided into following steps:
Step one: induced bird-repellent robots is sent control instruction: Surveillance center sends order, airport main website to airport main website
By network, order is sent to airport base station, and airport base station is then forwarded to induced bird-repellent robots；
Step 2: induced bird-repellent robots driving means starts: bird-repellent robots starts driving means after receiving order, real
The rotation direction location of existing robot；
Step 3: induced bird-repellent robots audio frequency apparatus starts；
Step 4: induced bird-repellent robots electronics big gun starts；By big gun ring, the rotation of induced bird-repellent robots equipment and sky
The mode that the broadcasting of sound of enemy " informs danger " trains the trained reflex of birds, allows bird " understand, adapt to, grasp " airport
Flight rule, be familiar with the birds of aerodrome flight environment and flight rule and again receive " flight hazard " signal and will lead in advance
Move to withdraw airport or take to conceal motionless behavior and dodge aircraft；
Step 5: induced bird-repellent robots homing action starts；
Step 6: induced bird-repellent robots infrared night vision camera starts, it is achieved collection and the monitoring to bird feelings information.
Described step one comprises three kinds of modes:
Mode (1): remote control table controls: utilizes network control platform to assign control instruction and carries out remote wireless control；
Mode (2): hand-held set controls: airport bird scaring personnel carry hand-held set when going on patrol on airport, utilize hand-held set to send at any time
Bird dispelling signal；
Mode (3): the content analysis gathering status data according to bird feelings judges, and combine and take off the time point of landing and carry out
Bird dispelling.
In described mode (1), airport bird scaring staff, in remote control room, logs in remote control table, it is seen that airport week
The status of implementation enclosed, and the information uploaded according to bird feelings collection carries out issuing of bird dispelling order, sends bird dispelling order by main website,
After base station receives bird dispelling order, forward the information to the bird-repellent robots inside airfield runway；
In described mode (2), airport bird scaring staff at outfield runway, according to human eye observation to airport bird situation condition carry out
Operation hand-held set, sends bird dispelling order by hand-held set and carries out bird dispelling；
In described mode (3), airport bird scaring is on the basis of early stage bird feelings gather, according to time of occurrence, the appearance of the collection of bird feelings
Quantity, place occurs, weather occurs, the collection confluence analysis of kind data occurs, and carry out platform according to data results
Automated condtrol bird-repellent robots bird dispelling.
In described step 2, bird-repellent robots receives control command by communication device, is transmitted to control by order by control circuit
Device processed, controls device and drives driving means to work by drive set controller, and driving means is according to present in control instruction
Target bearing angle, controls bidirectional damper electric machine rotation；Bidirectional damper motor drives the shaft being furnished with bearing by gear module
Rotate, shaft rotation process drives stroke stir device and move, after arriving purpose angle；Stroke is stirred device and is stirred stroke driving lever,
Stroke driving lever produces a thrust and promotes travel switch；Travel switch uses normally closed pattern, when thrust arrives and promotes travel switch,
Travel switch becomes Disconnected mode, and peripheral control module receives cut-off signal, controls bidirectional damper motor stopping action,
Arrive and specify position；Driving means carrys out rotary machine people by shaft；
In described step 3, control circuit receives control command, and order is transmitted to control device by control circuit, controls device
Carried out the startup of bird dispelling audio-frequence player device by bird dispelling audio frequency playing controller, bird dispelling audio frequency playing controller reads according to audio frequency
Module reads audio content, is carried out the output of high-decibel volume by bird dispelling audio-frequence player device, moves at bird dispelling audio-frequence player device
During work, additionally it is possible to carry out the switching of audio resource according to real-time bird affectionate person's class and bird feelings quantity.
In described step 4, while driving means startup, the bird dispelling electronics big gun of bird-repellent robots starts simultaneously, is driving dress
Putting before turning to angle on target, bird dispelling electronics big gun carries out flying capacitance charging, and when arriving appointment position, driving means stops turning
Dynamic, bird dispelling electronics big gun carries out very fast electric discharge fried head action, causes the explosion sound of air, produces the big gun song of high-decibel；
In described step 5, control command is finished, and driving means is rotated backward by rotor, rotates
Playback to driving equipment stopping action, bird-repellent robots during initial position；
In described step 6, whole control command perform before, neutralizations playback during infrared night vision camera all can be right
Around bird-repellent robots axle, the bird feelings in the range of 150 meters are acquired monitoring.
Beneficial effects of the present invention:
1, this induced bird-repellent robots can realize remote platform courses, hand-held set controls and automatic intelligent controls.Induced
The seamless bird dispelling in airport can be realized according to wireless network between bird-repellent robots to cover, letter between induced bird-repellent robots, can be carried out
Breath is mutual, and at many levels, multi-angle combines the intellectuality that can preferably realize airport according to the induced bird dispelling mode of biological study
Bird dispelling；
2, the switching of audio resource is carried out according to real-time bird affectionate person's class and bird feelings quantity, by the characteristic of xenogenesis birds difference natural enemy,
Realize specific aim higher, the more preferable bird dispelling of effect on driving birds.
Accompanying drawing explanation
Fig. 1 is that schematic diagram is installed and used on the airport of the present invention；
Fig. 2 is that the Intelligent bird expelling robot outward appearance of the present invention is intended to；
Fig. 3 is the system construction drawing of the present invention；
Fig. 4 is that the present invention controls apparatus structure block diagram；
Fig. 5 is the bird dispelling audio frequency playing controller structured flowchart of the present invention；
Fig. 6 is inventive drive means structure chart；
Fig. 7 is the Intelligent bird expelling robot linkage network topology schematic diagram of the present invention；
Fig. 8 is the airport installation wiring schematic diagram of the present invention.
Wherein, device, 2. infrared night vision camera, 3. bird dispelling audio frequency playing controller, 4. drive set controller are 1. controlled, 5.
Environment monitoring device, 6. communication device, 7. bird dispelling audio-frequence player device, 8. driving means, 9. bird dispelling electronics big gun controller, 10. drives
Bird electronics big gun, 11.CPU kernel control module, 12. data memory modules, 13. wireless communication modules, 14. peripheral equipment control moulds
Block, 15. onboard protection modules, 16. power modules, 17. indicating modules, 18. audio memory, 19. audio frequency read modules, 20.
Audio decoder module, 21. audio frequency broadcasting control modules, 22. bidirectional damper motors, 23. gear modules, 24. shafts, 25. bearings,
26. strokes stir device, 27. stroke driving levers, 28. travel switches, 29. phantoms, 30. rain covers, 31. voltage stabilizing conversion electric powers, and 32.
Model driven rod, 33. models fix base plate, 34. bearing adapter sleeves, 35. model base.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As it is shown in figure 1, set up multiple inside certain airfield runway on the meadow of (distance tactical commanding room near-end) by the present invention
Bird-repellent robots, this bird-repellent robots is by bearing adapter sleeve 34 and model base 35 the phantom 29 of bird-repellent robots
Fixing, base plate 33 fixed by model driven rod 32 and model primarily to driving means 8 drives the phantom of intelligent robot
29 realize rotating.Model base 35 carries out rainproof by the rain cover 30 of the corrosion resistant glass steel material of high density.
Under general modfel, bird-repellent robots can carry out bird feelings collection by the infrared night vision camera 2 on phantom 29 shoulder,
And bird feelings collection information is transmitted by wireless signal, the accumulating information that the bird feelings information of transmission can gather as bird feelings, for
Intelligent automation is analyzed bird dispelling and is done the accumulation of information analysis.
When preparation before taking off, staff can pass through bird feelings acquisition controlling platform or handset apparatus
Carry out the birds of whole airfield runway periphery are dispersed.Send order by platform or hand-held set, work as bird-repellent robots
Receiving signal by the communication device 6 of chest locations, 6 information received of communication device pass to control device 1, control
Device 1 processed carries out the analysis of order according to the bidding protocol information prestored, and invalid order is taked the principle abandoned, has
The action command information of effect then performs action command.Control device 1 by driving device controller 4 to control indirectly to control to drive
Dynamic device 8, the bird feelings location information according to analyzing out in order rotates corresponding orientation angles, and bird dispelling audio frequency plays control simultaneously
Device 3 processed controls bird dispelling audio-frequence player device 7 and carries out the broadcasting of selective birds natural enemy sound for different birds, while rotation
Bird dispelling electronics big gun 10 is controlled by bird dispelling electronics big gun controller 9, and bird dispelling electronics big gun 10 enters charged state, arrives in order
During the angle analyzed, bird dispelling electronics big gun 10 carries out repid discharge, excites fried head to produce the big gun song that high-decibel is sharp-pointed, thus realizes
Bird dispelling work before taking off.
After bird-repellent robots execution order, entirety home operation to be realized, prepares for action command next time, by driving
Dynamic device controller 4 controls driving means 8 and drives phantom 29 to rotate backward initial position, bird dispelling in this homing action
Audio frequency playing controller 3 controls bird dispelling audio-frequence player device 7 and carries out corresponding birds natural enemy audio frequency broadcasting.Playback after initial position
If first check for data memory module 12 and whether receive order if controlling device 1 during action and have order to continue to action
Not having order, driving means 8 power-off quits work, and bird dispelling audio-frequence player device 7 power-off quits work, and controls device 1
Entering low-power consumption standby pattern facilitates action command to wake up up at any time.
Owing to birds have adaptability, single bird dispelling mode often loses effect on driving birds in the shortest time, in the present invention,
The combination of the multiple effect on driving birds of electronics report of the rotation of apery body, the broadcasting of birds natural enemy sound and the high-decibel of phantom can be more
Good carries out bird dispelling.The bird dispelling of Intelligent bird expelling robot, front, is taken off rear, and temporal time delay can preferably " be accused
Know " just have after birds Intelligent bird expelling robot action and take off, effectively reduce birds resistance to the formation of this bird dispelling form
Probability by property.
As in figure 2 it is shown, described Intelligent bird expelling robot equipment includes emulated robot model, model base 35 and control equipment,
Described emulated robot model is arranged in model base 35, and described model base 35 can drive emulated robot model rotation,
It is internal that described control equipment is arranged on model base 35, and described control equipment uses voltage stabilizing conversion electric power 31 to be powered.
Phantom 29 is fixed base plate by the model driven rod 32 being preset in phantom 29 with model and is connected, shaft
The 24 bearing adapter sleeves 34 fixed on base plate 33 with model are connected.Shaft 24 is connected with model base 35.Model base 35
Being that toughness is higher, the fiber glass resin mixing material that hardness is moderate, by fiberglass rain cover 30 outside this model base 35
Carry out rainproof.
Equipped with infrared night vision camera 2 on the left shoulder of phantom 29, infrared night vision camera 2 is by phantom 29 body
Electric lines of force with control device 1 be connected, anywhere or anytime the bird situation condition in Intelligent bird expelling robot surrounding is acquired.
Being provided with communication device 6 at the chest of phantom 29, this device is by the communication cable in phantom 29 body and channel radio
Letter module 13 connects.Phantom 29 both hands are the posture of pop-up, and bird dispelling electronics big gun 10 is placed on phantom 29 both hands,
This device is physically connected to the bird dispelling electronics big gun controller 9 in model base 35 by electric lines of force in robot body.Bird dispelling audio frequency is broadcast
Putting the hip point that equipment 7 is placed in phantom 29 body, direction is set to reverse with phantom 29.
Model base 35 be designed as point two parts, a part is used for placing control device 1, and a part is used for installing other equipment,
Maintenance and the maintenance in later stage is easy in such design.Environment monitoring device 5 is placed in the bottom of model base 35, is used for monitoring mould
The height of water level of type base 35 lower end, when preventing water level from soaking driving means 8 height, accidentally starts whole system and causes system short
Driving means 8. is burnt on road
As it is shown on figure 3, the internal automatic control system of Intelligent bird expelling robot, including control device 1, infrared night vision camera 2,
Bird dispelling audio frequency playing controller 3, drive set controller 4, environment monitoring device 5, communication device 6, bird dispelling electronics big gun control
Device 9, bird dispelling electronics big gun 10；Control device 1 and infrared night vision camera 2, bird dispelling audio frequency playing controller 3, driving means control
Device 4 processed, environment monitoring device 5, communication device 6 and bird dispelling electronics big gun controller 9 are joined directly together；Bird dispelling audio frequency playing controller
3 and bird dispelling audio-frequence player device 7 connect；Drive set controller 4 is connected with driving means 8；Bird dispelling electronics big gun controller 9
It is connected with bird dispelling electronics big gun 10；
As shown in Figure 4, Intelligent bird expelling robot control device 1 include CPU control core module 11, data memory module 12,
Wireless communication module 13, peripheral control module 14, onboard protection module 15, power module 16, indicating module 17；CPU
Kernel control module 11 is connected with data memory module 12, wireless communication module 13, peripheral control module 14 respectively；Plate
Carry protection module 15 respectively with data memory module 12, wireless communication module 13, peripheral control module 14, core cpu
Control module 11 is connected；Power module 16 is connected with indicating module 17, onboard protection module 15 respectively；
As it is shown in figure 5, bird dispelling audio frequency playing controller 3 includes audio memory 18, audio frequency read module 19, audio decoder mould
Block 20, audio frequency play control module 21；Audio memory 18 can use the various ways such as packaged type storage card, storage hard disk,
Storage content can be that simulated aircraft takes off effect or the audio-frequency information of the effect such as birds, the bird of prey, data mode can be MP3 or
The audio file formats of other high-fidelities.
Audio frequency read module 19, reads audio file data from audio memory 18, and passes to audio decoder module 20, sound
Frequently audio file data is decoded by decoder module 20, is converted into playable simulated audio signal, and transmits a signal to audio frequency and broadcast
Putting control module 21, audio frequency is play control module 21 and the audio signal of input is amplified, and is converted to directly drive bird dispelling audio frequency
The audio signal of playback equipment 7.
As shown in Figure 6, driving means 8 includes bidirectional damper motor 22, gear module 23, shaft 24, bearing 25, OK
Journey stirs device 26, stroke driving lever 27, travel switch 28.Bidirectional damper motor 22 is driven by gear module 23 is furnished with bearing
The shaft 24 of 25 rotates, and drives stroke to stir device 26 and moves, after arriving purpose angle in shaft 24 rotation process.OK
Journey is stirred device 26 and is stirred stroke driving lever 27, and stroke driving lever 27 produces a thrust and promotes travel switch 28.Travel switch 28 is adopted
Using normally closed pattern, when thrust arrives and promotes travel switch 28, travel switch 28 becomes Disconnected mode, peripheral equipment control mould
Block 14 receives cut-off signal, controls bidirectional damper motor 22 and stops action, arrives and specify position.
As it is shown in fig. 7, Intelligent bird expelling robot system uses multi-mode to control and the steel structure of multiple network topology.This system
Including 5 major parts: Intelligent bird expelling robot hand-held set, Intelligent bird expelling robot equipment, base station equipment, master device, service
Device equipment.This system uses the point-to-point control of Intelligent bird expelling robot hand-held set, Intelligent bird expelling robot hand-held set point-to-multipoint control
System, Intelligent bird expelling robot control the point-to-point control of platform, Intelligent bird expelling robot controls platform point-to-multipoint and controls.Intelligence is driven
Bird robot handheld machine controls near field communication devices can be directly realized by Control on Communication.During for controlling more remote, intelligent bird-repeller machine
First being sent to base station equipment during human hand held machine transmitting control commands, the instruction received is being forwarded by base station equipment, is formed
Indirectly control Intelligent bird expelling robot equipment.Intelligent bird expelling robot hand-held set also can realize GPS location, and bird feelings data upload number
Bird affectionate person's class, bird feelings quantity, bird feelings scene, bird feelings time of occurrence is included according to storehouse.
Intelligent bird expelling robot controls platform and signs in the platform monitoring interface of server end according to account number cipher, can at monitoring interface
Real-time by Intelligent bird expelling robot equipped with infrared night vision camera 2 carry out the monitoring of airport bird feelings, for intelligent bird-repeller machine
The data message that device human hand held machine equipment collection is uploaded carries out real-time storage, can determine generation bird according to GPS position information simultaneously
The position of feelings, controls window by the equipment of platform, and the place that occurs for bird feelings, kind, quantity send different stage not
Instructing with the bird dispelling of type, instruction is sent to base station equipment by the master device being connected with server end, and base station equipment is to reception
To bird dispelling instruction carry out being transmitted to Intelligent bird expelling robot equipment, it is achieved bird dispelling.
As shown in Figure 8, runway thing both sides distribution indoor location electrical control cubicles, each incoming transport 220V power supply, single channel power supply is defeated
Go out requirement > 2000W；During cabling, screen layer two ends reliable ground should not made screen layer fracture or loose, otherwise can
Reduce shield effectiveness；Lay cable bend radius and be no less than 15-20 times of the outside diameter of cable, before and after cable laying, with 1000V
It is the most normal that the insulation resistance between each conductor of cable measured by megameter, and according to circumstances to being modified, after cable laying,
Cable break-make measurement must be carried out.Cable, as used directly buried installation mode, should be carried out Dampproof water-drainage and process, and the depth of burying should be not little
In 0.7-1M, lay cable entrance switchgear house and indoor cabling all should use the built-in laying of crane span structure, before release cable, line should be checked
Cable outward appearance and end socket are the most intact, it should be noted that the release direction of cable disc during release, do not flatten or scratch cable jacket, cut
Do not carry out alignment cable in the mode of beating, in order to avoid causing insulating sheath to ftracture, pipeline connector and knee, should take to protect cable
Measure, it is ensured that cable is not damaged；Cable should have stronger electromagnetism interference, anti-lightning and uniform electric field, this project cable
Be laid in underground, and cable should bear mechanical external force effect, also can bear bigger pulling force.Rated voltage (Uo/U): 0.6/1KV,
Long-term work allows temperature: < 70 DEG C, short circuit maximum temperature: < 160 DEG C, resistance requirements: have relatively low and uniform the most just (inverse)
Sequence and zero sequence working impedance, be conducive to improving carrier communication and power supply quality；Reactance: use concentric conductor in zero sequence duty
Lower attenuating impedance, is conducive to the short circuit timely action message of automatic safety device, thus ensures relevant device and airport supply network
Reliable and secure operation；It is amenable to the bunched burning test that GB12666.5 (IEC332-3) specifies, the most termite-proof and plague of rats shadow
Ring；Conductor resistance: meet GB3956;Resistance to pressure request: stand the 3.5kV working-frequency voltage test of 5min, jacket thickness: 2.8mm;
Cable service life: 7 15 years.
The concrete abductive approach of induced bird-repellent robots is as follows:
Owing to airport food, space factor have strong captivation to birds, if randomness bird dispelling, between bird dispelling and flight
Not having clear and definite relation, birds invade airport at any time because being readily available the reason of food, and the bird becoming potential hits risk factor.
Induced bird-repellent robots, according to the ultimate principle of operant conditioned reflex, is sent out with the animal behavior relevant flight bird dispelling measure of psychology
Go out " flight hazard signal ".The signals such as the broadcasting by big gun ring, phantom rotation and natural enemy sound have by the way of " informing danger "
Helping to allow the flight rule on bird " understand, adapt to, grasp " airport, the birds being familiar with aerodrome flight environment and flight rule are endangered
After the signal of danger, enter the birds on airport and before flight, receive " flight hazard " signal can shift to an earlier date and withdraw airport on one's own initiative, or take
Conceal motionless behavioral strategy and dodge aircraft, thus avoid to try in any path one could without heeding which one chose and swarm into course line, increase the chance that bird is hit.Due to induction
Formula bird-repellent robots action is the state of flight informing aircraft to birds, and such as course-and-bearing, type, air flight times etc., make bird
Class knows that the aircraft of flight is that a kind of mortality is dangerous, thus leaves airport.The most dangerous police of induced bird-repellent robots action
Announcement measure has the effect that signal is continually strengthened, and is just difficult to disappear after the reflection of birds formation condition.Before flight, pass through induced
Bird-repellent robots action sends the signal taken off and will carry out the signal of nocuity bird dispelling, sends and fly after flight terminates
Row and bird dispelling activity end signal, informing of state of flight zygotic induction formula bird-repellent robots danger signal can allow bird " understand, adapt to "
Aerodrome flight rule, the birds behavior of dodging of taking the initiative is hidden bird and is hit.When birds formation condition reflects and forms good habit,
The birds magpie as often movable on airport will leave airport before aircraft standby for takeoff, returns to airport and look for food at the end of flight,
Birds are actively hidden flight turnover airport and will be prevented effectively from the generation that bird is hit.
Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not limit to scope
System, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art need not pay
Go out various amendments or deformation that creative work can make still within protection scope of the present invention.
Claims (9)
1. an induced bird-repellent robots network control system, is characterized in that, sets including being embedded in airfield runway clear width
Several induced bird-repellent robots equipment of distance, described induced bird-repellent robots equipment receives airport master by airport base station
The information stood, airport main website receives the information of airport server, thus server manipulation induced bird-repellent robots carries out bird dispelling sound
The transmitting of sound, the side " informing danger " by the broadcasting of the sound of big gun ring, the rotation of induced bird-repellent robots equipment and natural enemy
The trained reflex of formula training birds, allows the flight rule on bird " understand, adapt to, grasps " airport, be familiar with aerodrome flight environment with
The birds of flight rule again receive " flight hazard " signal and will shift to an earlier date and actively withdraw airport or take to conceal motionless behavior
Dodge aircraft；
Described induced bird-repellent robots equipment includes emulated robot model, model base and control equipment, described emulation machine
Human model is arranged in model base, and described model base can drive emulated robot model rotation, and described control equipment is installed
Inside model base；
Described emulated robot model includes that base plate fixed by model, and described model is fixed and is fixed with model driven rod on base plate, described
Being fixed with the trunk of robot on model driven rod, the buttocks of described robot trunk is provided with bird dispelling audio-frequence player device, described machine
The shoulder of device people's trunk is provided with infrared night vision camera, and the chest of described robot trunk is provided with communication device, described machine
People's trunk both sides are provided with robotically-driven arm, are provided with bird dispelling electronics big gun in described robotically-driven arm；
The surface of described model base is provided with rain cover, is provided with control equipment in described model base, and described control equipment includes electricity
Gas control control equipment and driving means；Described electrical control equipment include control device, environment monitoring device, voltage stabilizing conversion electric power,
Bird dispelling audio frequency playing controller,
Described control device respectively with environment monitoring device, communication device, infrared night vision camera, bird dispelling audio frequency playing controller,
Bird dispelling electronics big gun controller, scarer controller communicate, and described bird dispelling audio frequency playing controller controls bird dispelling audio-frequence player device,
Described bird dispelling electronics big gun controller controls bird dispelling electronics big gun, and described drive set controller controls driving means；
Described environment monitoring device is used for monitoring model base bottom height of water level, and height of water level is too high sends warning, it is to avoid model
The short-circuit conditions being continuing with causing in the case of base water inlet occurs；
Described communication device, for the transmitting-receiving of wireless signal, is used for receiving and sending order, controls platform with hand-held set and bird dispelling and enters
Row is linked up；
Described infrared night vision camera for bird feelings gather, including bird kind, quantity, position, time of occurrence information occur,
Prepare for later stage prediction bird dispelling；
Described bird dispelling audio player is used for controlling bird dispelling sound, regulates the natural enemy sound playing this kind of birds according to the kind of bird, right
The size of sound is controlled and the selection of bird dispelling sound；
Described bird dispelling electronics big gun controller is for the control of bird dispelling electronics big gun, to the discharge and recharge of bird dispelling electronics big gun and bird dispelling electronics big gun
Big gun ring carries out on-off control；
Described scarer controller is used for controlling whole Intelligent bird expelling robot, resolves action command, according to agreement solution
Each equipment of Intelligent bird expelling robot is controlled by the command context separated out；
Described bird dispelling audio-frequence player device, for the broadcasting of birds natural enemy audio-frequency information, carries out public address broadcasting to birds natural enemy sound；
Described bird dispelling electronics big gun, with sending the high-decibel big gun song with flash effect, disperses birds；
Described driving means is for driving 360 degree of all-direction rotations of phantom；According to the orientation angles in action command, band
Dynamic phantom turns to respective angles.
2. a kind of induced bird-repellent robots network control system as claimed in claim 1, is characterized in that,
Described driving means includes bidirectional damper motor, and described bidirectional damper motor is connected with shaft by gear module, described
Shaft is fixed base plate by bearing adapter sleeve with the model of emulated robot and is connected, and described shaft stirs device and row by stroke
Journey driving lever connects, and described stroke driving lever is connected with travel switch.
3. a kind of induced bird-repellent robots network control system as claimed in claim 1, is characterized in that, described control device
Including core cpu control module, described core cpu control module respectively with data memory module, wireless communication module and outer
Portion's device control module communication, described data memory module, wireless communication module communicate with peripheral control module all with onboard
Protection module communication, described onboard protection module is connected with power module, and described power module is connected with indicating module, described CPU
Kernel control module also communicates with onboard protection module；
Described core cpu control module is for carrying out data analysis to the wireless communication information received, according to the most predefined
The data received are carried out agreement decomposition by communication protocol, according to protocol requirement make control instruction to peripheral hardware control module, deposit
Storage module and indicating module carry out effective Read-write Catrol, reach the execution requirement of order；The most also wireless communication module is carried out
Control, reach to control the effect that data message sends；
Described data memory module is for counting the work times of bird-repellent robots action；By recording the work of bird-repellent robots action
The frequency of bird-repellent robots action is supervised as number of times；The temporary command information received, selects the form of storage to keep in action life
Order；
Described wireless communication module is for receiving hand-held set sends and the action command of host computer bird feelings control platform transmission, simultaneously
When opening robot motion circulation pattern, wireless communication module should be as signal receiving end again as next robot
Signal sending end plays multiple action；
Described peripheral control module is for being controlled external equipment；
Described onboard protection module is for protecting module mainly to play the effect of protection robot panel, and protection module is divided into 2
Part, power protection and signal filtering protection；It is respectively used to power supply stability protection and the guarantee of signal error rate；
Audio memory that described bird dispelling audio frequency playing controller includes communicating successively, audio frequency read module, audio decoder module and
Audio frequency plays control module, and described audio frequency is play control module and communicated with bird dispelling audio-frequence player device；
Described audio memory is for storing the audio sound of birds natural enemy；
Described audio frequency read module extracts for the audio frequency thinking highly of audio storage, is scanned audio file；
Described audio decoder module for carrying out the decoding of corresponding form to audio file, it is ensured that the audio file of different-format can
Enough broadcastings；
Described audio frequency plays control module for controlling the broadcasting of audio file；
The size of audio sound, for audio frequency is carried out public address, is adjusted by described bird dispelling audio-frequence player device；
Described environment monitoring device is hydrops detector, and it is arranged on and blocks water under dividing plate, monitors height of water level.
4. the control method of a kind of induced bird-repellent robots network control system as described in above-mentioned any claim, its feature
It is to be broadly divided into following steps:
Step one: induced bird-repellent robots is sent control instruction: Surveillance center sends order, airport main website to airport main website
By network, order is sent to airport base station, and airport base station is then forwarded to bird-repellent robots；
Step 2: induced bird-repellent robots driving means starts: bird-repellent robots starts driving means after receiving order, real
The rotation direction location of existing robot；
Step 3: induced bird-repellent robots audio frequency apparatus starts；
Step 4: induced bird-repellent robots electronics big gun starts；By big gun ring, the rotation of induced bird-repellent robots equipment and sky
The mode that the broadcasting of sound of enemy " informs danger " trains the trained reflex of birds, allows bird " understand, adapt to, grasp " airport
Flight rule, be familiar with the birds of aerodrome flight environment and flight rule and again receive " flight hazard " signal and will lead in advance
Move to withdraw airport or take to conceal motionless behavior and dodge aircraft；
Step 5: induced bird-repellent robots homing action starts；
Step 6: induced bird-repellent robots infrared night vision camera starts, it is achieved collection and the monitoring to bird feelings information.
5. method as claimed in claim 4, is characterized in that, described step one comprises three kinds of modes:
Mode (1): remote control table controls: utilizes network control platform to assign control instruction and carries out remote wireless control；
Mode (2): hand-held set controls: airport bird scaring personnel carry hand-held set when going on patrol on airport, utilize hand-held set to send at any time
Bird dispelling signal；
Mode (3): the content analysis gathering status data according to bird feelings judges, and combine and take off the time point of landing and carry out
Bird dispelling.
6. method as claimed in claim 5, is characterized in that, in described mode (1), airport bird scaring staff is in remotely control
In room processed, log in remote control table, it is seen that the status of implementation around airport, and the information uploaded according to bird feelings collection is driven
Bird order issue, by main website send bird dispelling order, after base station receives bird dispelling order, forward the information to takeoff runway and
Bird-repellent robots between taxiway；
In described mode (2), airport bird scaring staff at outfield runway, according to human eye observation to airport bird situation condition carry out
Operation hand-held set, sends bird dispelling order by hand-held set and carries out bird dispelling；
In described mode (3), airport bird scaring is on the basis of early stage bird feelings gather, according to time of occurrence, the appearance of the collection of bird feelings
Quantity, place occurs, weather occurs, the collection confluence analysis of kind data occurs, and carry out platform according to data results
Automated condtrol bird-repellent robots bird dispelling.
7. method as claimed in claim 4, is characterized in that,
In described step 2, bird-repellent robots receives control command by communication device, is transmitted to control by order by control circuit
Device processed, controls device and drives driving means to work by drive set controller, and driving means is according to present in control instruction
Target bearing angle, controls bidirectional damper electric machine rotation；Bidirectional damper motor drives the shaft being furnished with bearing by gear module
Rotate, shaft rotation process drives stroke stir device and move, after arriving purpose angle；Stroke is stirred device and is stirred stroke driving lever,
Stroke driving lever produces a thrust and promotes travel switch；Travel switch uses normally closed pattern, when thrust arrives and promotes travel switch,
Travel switch becomes Disconnected mode, and peripheral control module receives cut-off signal, controls bidirectional damper motor stopping action,
Arrive and specify position；Driving means carrys out rotary machine people by shaft；
In described step 3, control circuit receives control command, and order is transmitted to control device by control circuit, controls device
Carried out the startup of bird dispelling audio-frequence player device by bird dispelling audio frequency playing controller, bird dispelling audio frequency playing controller reads according to audio frequency
Module reads audio content, is carried out the output of high-decibel volume by bird dispelling audio-frequence player device, moves at bird dispelling audio-frequence player device
During work, additionally it is possible to carry out the switching of audio resource according to real-time bird affectionate person's class and bird feelings quantity.
8. method as claimed in claim 4, is characterized in that,
In described step 4, while driving means startup, the bird dispelling electronics big gun of bird-repellent robots starts simultaneously, is driving dress
Putting before turning to angle on target, bird dispelling electronics big gun carries out flying capacitance charging, and when arriving appointment position, driving means stops turning
Dynamic, bird dispelling electronics big gun carries out very fast electric discharge fried head action, causes the explosion sound of air, produces the big gun song of high-decibel.
9. method as claimed in claim 4, is characterized in that,
In described step 5, control command is finished, and driving means is rotated backward by rotor, rotates
Playback to driving equipment stopping action, bird-repellent robots during initial position；
In described step 6, whole control command perform before, neutralizations playback during infrared night vision camera all can be right
Around bird-repellent robots axle, the bird feelings in the range of 150 meters are acquired monitoring.
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